Processing updated sensor data for remote collaboration

One or more non-transitory computer readable media storing instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:

• generating mesh data representing a 3D environment;
• receiving a plurality of frames associated with the 3D environment and captured by an image sensor coupled to a host device;
• determining, for each frame in the plurality of frames, a fulfillment score that represents a quality of a texture generated from the frame for at least a subset of mesh faces included in the mesh data;
• generating, by a processor, two-dimensional (2D) texture data for the mesh data based on the plurality of frames and the associated fulfillment scores;
• and
• transmitting, by the processor a portion of the 2D texture data and at a portion of 3D depth data for the mesh data to a remote device for rendering a representation of the 3D environment.

A computer system, comprising:

• a memory storing instructions;
• and
• a processor for executing the instructions to:
• generate mesh data representing a 3D environment;
• receive a plurality of frames associated with the 3D environment and captured by an image sensor coupled to a host device;
• determine, for each frame in the plurality of frames, a fulfillment score that represents a quality of a texture generated from the frame for at least a subset of mesh faces included in the mesh data;
• generate two-dimensional (2D) texture data for the mesh data based on the plurality of frames and the associated fulfillment scores;
• and
• transmit a portion of the 2D texture data and a portion of 3D depth data for the mesh data to a remote device for rendering a representation of the 3D environment.